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Software Joint Limit

msv
msv ✭
in Robot Controller
As a safety procedure, I am trying to figure out how to create joint angle limitations to prevent the arm reaching certain points in space. While for my arm we can mechanically stop one joint, we'd like to stop another one. Is there any way to do this in software?

Thanks,

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  • j_proulx
    j_proulx ✭✭

    The work area for an articulated robot is restricted by limiting the working range
    for the axes in System Parameters. The work area can also be restricted using hardware stops.
    To restrict the robot work area for articulated robots:
    1 In the Motion topic, choose the type Arm.
    2 Select the arm joint to edit.
    3 Edit the parameters Upper Joint Bound and Lower Joint Bound to set the respective limit of the work area for this joint in radians. Upper Joint Bound is for the positive side of the axis, Lower Joint Bound is for the negative side of the axis. + - signs are important.

    180 degrees = pi radians


    4 Save the changes.

     


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